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IROS
2008
IEEE

Design of a quasi-passive knee exoskeleton to assist running

10 years 3 months ago
Design of a quasi-passive knee exoskeleton to assist running
— In this paper we describe the design and preliminary evaluation of an energetically-autonomous powered knee exoskeleton to facilitate running. The device consists of a knee brace in which a motorized mechanism actively places and removes a spring in parallel with the knee joint. This mechanism is controlled such that the spring is in parallel with the knee joint from approximately heel-strike to toe-off, and is removed from this state during the swing phase of running. In this way, the spring is intended to store energy at heel-strike which is then released when the heel leaves the ground, reducing the effort required by the quadriceps to exert this energy, thereby reducing the metabolic cost of running.
Aaron M. Dollar, Hugh M. Herr
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Aaron M. Dollar, Hugh M. Herr
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